Berkeley Humanoid Lite

Name: Berkeley Humanoid Lite
Brand: UC Berkeley Hybrid Robotics

Parts for the full humanoid total $4,312 (US prices), per the Berkeley paper

Prices and stock checked 7 Nov 2026

Photo: UC Berkeley Hybrid Robotics · source

Type: HumanoidUC Berkeley Hybrid Robotics
Build difficulty: 5 of 5Advanced
License: Code MITother assets CC BY-SA 4.0
How to get it: Build from partsParts list below

Where to buy the Berkeley Humanoid Lite

This one is built from parts you source yourself. The parts list has every part and where it is sold.

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What the Berkeley Humanoid Lite really costs

Part	Cost	Source
Mini PC Table III, US prices	$129	arxiv.org checked 7 Nov 2026
USB-CAN adapters (4x) Table III, US prices	$68	arxiv.org checked 7 Nov 2026
USB hubs (2x) Table III, US prices	$36	arxiv.org checked 7 Nov 2026
BNO085 IMU Table III, US prices	$13	arxiv.org checked 7 Nov 2026
6S LiPo battery Table III, US prices	$70	arxiv.org checked 7 Nov 2026
6512 actuators (10x, $188 each) Table III, US prices	$1,880	arxiv.org checked 7 Nov 2026
5010 actuators (12x, $136 each) Table III, US prices	$1,632	arxiv.org checked 7 Nov 2026
Grippers (2x) Table III, US prices	$72	arxiv.org checked 7 Nov 2026
Aluminum extrusions Table III, US prices	$39	arxiv.org checked 7 Nov 2026
3D printed components Table III, US prices	$200	arxiv.org checked 7 Nov 2026
Misc structural components Table III, US prices	$50	arxiv.org checked 7 Nov 2026
Misc electronic components Table III, US prices	$123	arxiv.org checked 7 Nov 2026
Listed total	$4,312

Paper Table III total $4,312 US ($3,236 China), rounded to nearest dollar, as of the paper (April 2025); prices not re-checked. Not included: a 3D printer, tools, charger, motion-capture or teleop rigs. Table lists 10 of the 6512 and 12 of the 5010 actuators; each actuator's own BOM ($188 / $136) is in the paper.

What it is

Berkeley Humanoid Lite is an open-source humanoid from UC Berkeley (RSS 2025) with 22 actuators built around 3D-printed cycloidal gearboxes and parts from Amazon and Taobao. The repo covers training, sim2sim, deployment, motion capture and teleoperation; CAD, 3D-print files and the BOM are on the docs Releases page. Plans-only: you source, print and assemble it yourself.

Difficulty 5 of 5. Hand-assemble 22 cycloidal actuators from motors, ESCs and printed parts, then calibrate and run RL policies source

What it can do

Locomotion policies trained in Isaac Lab and deployed on the robot
Teleoperated manipulation and motion capture control
Reconfigure the same actuators into other forms (paper shows quadruped and biped layouts)

Demo and build videos

Berkeley Humanoid Lite: An Open source, Accessible, and Customizable 3D printed Humanoid Robot.Hybrid Robotics

Berkeley Humanoid Lite: The Open-Source 3D Printed Humanoid Robot You Can Build at HomeRainDust

Berkeley Humanoid Lite Tutorial: Assembling the M6C12 Actuator-T.K.-

UC Berkeley open-source humanoid robot | Humanoid LiteFive Minute Robots

Meet Humanoid Lite - Berkeley's Affordable, Open Source, 3D Printed Robot for BeginnersGlobal Update · 1,934 views

Parts list and links

Sourced facts

7 facts with links

Paper: Demonstrating Berkeley Humanoid Lite, arXiv 2504.17249, submitted 2025-04-24; RSS 2025 source · checked 7 Nov 2026
Authors: Chi, Liao, Long, Huang, Shao, Nikolic, Li, Sreenath (UC Berkeley) source · checked 7 Nov 2026
Cost claim: Total hardware cost under $5,000 (US market prices) source · checked 7 Nov 2026
Actuators: 22 total: 10x 6512 ($188 each US) and 12x 5010 ($136 each US) source · checked 7 Nov 2026
Battery: 6S LiPo, roughly 30 minutes runtime per paper source · checked 7 Nov 2026
Release files: BOM, Onshape CAD, MakerWorld print files, last updated 2025-09-07 source · checked 7 Nov 2026
Repo activity: Last push 2026-03-10, 2,007 stars source · checked 7 Nov 2026

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